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步進馬達步級角構造,黃色部分為每次脈波行走量

步進馬達步級角構造,黃色部分為每次脈波行走量

步進馬達脈衝馬達的一種,為具有如齒輪狀突起(小齒)相鍥合的定子和轉子,可藉由切換流向定子線圈中的電流,以一定角度逐步轉動的馬達

步進馬達的特徵是因採用開迴路(Open Loop)控制方式處理,不需要運轉量檢知器(sensor)或編碼器(Encoder),且因切換電流觸發器的是脈波信號,不需要位置檢出和速度檢出的回授裝置,所以步進馬達可正確的依比例追隨脈波信號而轉動,因此就能達成精確的位置和速度控制,且穩定性佳。


[編輯] 歷史

1923年,蘇格蘭人James Weir French 發明三相可變磁阻型(Variable reluctance),此為步進馬達前身。

[編輯] 構造

  • 永久磁鐵PM式(permanent magnet type)
  • 可變磁阻VR式(variable reluctance type)
  • 複合卡匣(hybrid type)

[編輯] 系統組合

步進馬達的基本構成
  • 控制器:發出運轉指令,傳送需求須度以及運轉量的指令脈波信號。需使用步進馬達專用控制器或可程式控制器的定位模組。傳送的運轉指令脈波信號有如心臟跳動般的呈現矩形的波形,是間斷性的發出信號。
  • 驅動器:提供電力以保證馬達按指令運轉,驅動器會隨控制器傳送來的脈波信號來控制電力,由決定的電流流通順序的來激磁迴路,並控制提供給馬達的電力以驅動迴路
  • 馬達本體:將電力轉化為動力,並按指令需求脈波數運轉。

[編輯] 主要特徵

步 進馬達只需要通過脈波信號的操作,即可簡單實現高精度的定位,並使工作物在目標位置高精度地停止。 步進馬達是以基本步級角的角度為單位來進行定位。以5相步進馬達為例,其基本步級角為0.72,因此可以將馬達轉1圈分為500等分(=360度 / 0.72),以此方式來細分每次行進量做為定位基準。

[編輯] 選用特點

在步進馬達的選用上必須注意以下幾點:

  • 步級角:亦即步進馬達之解析度(此指1脈波的移動量),步進馬達的步級角就是依馬達旋轉一圈(360°)而分割成多少來決定。
  • 轉動速度:亦即脈波輸入速度(pulse/s),依馬達轉矩而有變化。
  • 轉矩:選擇步進馬達時,需以有負荷時之最大轉矩(kg-m)的1.5 倍~2 倍來決定。
  • 負荷慣性慣量:依據使用場合計算負荷慣性慣量,再依步進馬達規格表,選擇容許負載慣性慣量需大於計算值之1.3 倍以上。
  • 驅動器:連結控制器或直接接受外部訊號,進而控制步進馬達動作。驅動器將直接影響步進馬達的性能表現。
  • 搭配減速機:使用減速機型步進馬達可達到減速、高轉矩、高解析度、降低施加於馬達軸之負荷慣性慣量、改善起動與停止時的阻尼特性,進而降低運轉之振動。

歡迎來到Bewise Inc.的世界,首先恭喜您來到這接受新的資訊讓產業更有競爭力,我們是提供專業刀具製造商,應對客戶高品質的刀具需求,我們可以協助客戶滿足您對產業的不同要求,我們有能力達到非常卓越的客戶需求品質,這是現有相關技術無法比擬的,我們成功的滿足了各行各業的要求,包括:精密HSS DIN切削刀具協助客戶設計刀具流程DIN or JIS 鎢鋼切削刀具設計NAS986 NAS965 NAS897 NAS937orNAS907 航太切削刀具,NAS航太刀具設計超高硬度的切削刀具醫療配件刀具設計汽車業刀具設計電子產業鑽石刀具木工產業鑽石刀具等等。我們的產品涵蓋了從民生刀具到工業級的刀具設計;從微細刀具到大型刀具;從小型生產到大型量產;全自動整合;我們的技術可提供您連續生產的效能,我們整體的服務及卓越的技術,恭迎您親自體驗!!

BW Bewise Inc. Willy Chen willy@tool-tool.com bw@tool-tool.com www.tool-tool.com skype:willy_chen_bw mobile:0937-618-190 Head &Administration Office No.13,Shiang Shang 2nd St., West Chiu Taichung,Taiwan 40356 http://www.tool-tool..com / FAX:+886 4 2471 4839 N.Branch 5F,No.460,Fu Shin North Rd.,Taipei,Taiwan S.Branch No.24,Sec.1,Chia Pu East Rd.,Taipao City,Chiayi Hsien,Taiwan

Welcome to BW tool world! We are an experienced tool maker specialized in cutting tools. We focus on what you need and endeavor to research the best cutter to satisfy users demand. Our customers involve wide range of industries, like mold & die, aerospace, electronic, machinery, etc. We are professional expert in cutting field. We would like to solve every problem from you. Please feel free to contact us, its our pleasure to serve for you. BW product including: cutting toolaerospace tool .HSS DIN Cutting toolCarbide end millsCarbide cutting toolNAS Cutting toolNAS986 NAS965 NAS897 NAS937orNAS907 Cutting Tools,Carbide end milldisc milling cutter,Aerospace cutting toolhss drillФрезерыCarbide drillHigh speed steelMilling cutterCVDD(Chemical Vapor Deposition Diamond )’PCBN (Polycrystalline Cubic Boron Nitride) Core drillTapered end millsCVD Diamond Tools Inserts’PCD Edge-Beveling Cutter(Golden FingerPCD V-CutterPCD Wood toolsPCD Cutting toolsPCD Circular Saw BladePVDD End Millsdiamond tool Single Crystal Diamond Metric end millsMiniature end millsСпециальные режущие инструменты Пустотелое сверло Pilot reamerFraisesFresas con mango PCD (Polycrystalline diamond) ‘FreseElectronics cutterStep drillMetal cutting sawDouble margin drillGun barrelAngle milling cutterCarbide burrsCarbide tipped cutterChamfering toolIC card engraving cutterSide cutterNAS toolDIN or JIS toolSpecial toolMetal slitting sawsShell end millsSide and face milling cuttersSide chip clearance sawsLong end millsStub roughing end millsDovetail milling cuttersCarbide slot drillsCarbide torus cuttersAngel carbide end millsCarbide torus cuttersCarbide ball-nosed slot drillsMould cutterTool manufacturer.

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弊社は各領域に供給できる内容は:

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(2)Carbide Cutting tools設計

(3)鎢鋼エンドミル設計

(4)航空エンドミル設計

(5)超高硬度エンドミル

(6)ダイヤモンドエンドミル

(7)医療用品エンドミル設計

(8)自動車部品&材料加工向けエンドミル設計

弊社の製品の供給調達機能は:

(1)生活産業~ハイテク工業までのエンドミル設計

(2)ミクロエンドミル~大型エンドミル供給

(3)小Lot生産~大量発注対応供給

(4)オートメーション整備調達

(5)スポット対応~流れ生産対応

弊社の全般供給体制及び技術自慢の総合専門製造メーカーに貴方のご体験を御待ちしております。

BW специализируется в научных исследованиях и разработках, и снабжаем самым высокотехнологичным карбидовым материалом для поставки режущих / фрезеровочных инструментов для почвы, воздушного пространства и электронной индустрии. В нашу основную продукцию входит твердый карбид / быстрорежущая сталь, а также двигатели, микроэлектрические дрели, IC картонорезальные машины, фрезы для гравирования, режущие пилы, фрезеры-расширители, фрезеры-расширители с резцом, дрели, резаки форм для шлицевого вала / звездочки роликовой цепи, и специальные нано инструменты. Пожалуйста, посетите сайт www.tool-tool.com для получения большей информации.

BW is specialized in R&D and sourcing the most advanced carbide material with high-tech coating to supply cutting / milling tool for mould & die, aero space and electronic industry. Our main products include solid carbide / HSS end mills, micro electronic drill, IC card cutter, engraving cutter, shell end mills, cutting saw, reamer, thread reamer, leading drill, involute gear cutter for spur wheel, rack and worm milling cutter, thread milling cutter, form cutters for spline shaft/roller chain sprocket, and special tool, with nano grade. Please visit our web www.tool-tool.com for more info.

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Bewise Inc. www.tool-tool.com Reference source from the internet.

Un motor pas a pas és un motor elèctric sincrònic sense escombretes, que pot dividir una rotació sencera en un gran número de passos, per exemple, 200 passos. Així el motor es pot fer girar un angle precís.

[edita] Aplicacions

Els motors pas a pas controlats per ordinador són una de les formes més versàtils dels sistemes de posicionament, especialment quan són controlats digitalment com part d'un servosistema. Els motors pas a pas s'utilitzen en disqueteres, escàners, impressores, traçadors i molts altres mecanismes. Els discs durs ja no utilitzen motors pas a pas per als capçals de lectura/escriptura, en canvi utilitzen una bobina mòbil i realimentació servo per al posicionament.

Els motors pas a pas també es poden utilitzar per al posicionament dels estats de vàlvules pilot, per a sistemes de control de fluids.

歡迎來到Bewise Inc.的世界,首先恭喜您來到這接受新的資訊讓產業更有競爭力,我們是提供專業刀具製造商,應對客戶高品質的刀具需求,我們可以協助客戶滿足您對產業的不同要求,我們有能力達到非常卓越的客戶需求品質,這是現有相關技術無法比擬的,我們成功的滿足了各行各業的要求,包括:精密HSS DIN切削刀具協助客戶設計刀具流程DIN or JIS 鎢鋼切削刀具設計NAS986 NAS965 NAS897 NAS937orNAS907 航太切削刀具,NAS航太刀具設計超高硬度的切削刀具醫療配件刀具設計汽車業刀具設計電子產業鑽石刀具木工產業鑽石刀具等等。我們的產品涵蓋了從民生刀具到工業級的刀具設計;從微細刀具到大型刀具;從小型生產到大型量產;全自動整合;我們的技術可提供您連續生產的效能,我們整體的服務及卓越的技術,恭迎您親自體驗!!

BW Bewise Inc. Willy Chen willy@tool-tool.com bw@tool-tool.com www.tool-tool.com skype:willy_chen_bw mobile:0937-618-190 Head &Administration Office No.13,Shiang Shang 2nd St., West Chiu Taichung,Taiwan 40356 http://www.tool-tool..com / FAX:+886 4 2471 4839 N.Branch 5F,No.460,Fu Shin North Rd.,Taipei,Taiwan S.Branch No.24,Sec.1,Chia Pu East Rd.,Taipao City,Chiayi Hsien,Taiwan

Welcome to BW tool world! We are an experienced tool maker specialized in cutting tools. We focus on what you need and endeavor to research the best cutter to satisfy users demand. Our customers involve wide range of industries, like mold & die, aerospace, electronic, machinery, etc. We are professional expert in cutting field. We would like to solve every problem from you. Please feel free to contact us, its our pleasure to serve for you. BW product including: cutting toolaerospace tool .HSS DIN Cutting toolCarbide end millsCarbide cutting toolNAS Cutting toolNAS986 NAS965 NAS897 NAS937orNAS907 Cutting Tools,Carbide end milldisc milling cutter,Aerospace cutting toolhss drillФрезерыCarbide drillHigh speed steelMilling cutterCVDD(Chemical Vapor Deposition Diamond )’PCBN (Polycrystalline Cubic Boron Nitride) Core drillTapered end millsCVD Diamond Tools Inserts’PCD Edge-Beveling Cutter(Golden FingerPCD V-CutterPCD Wood toolsPCD Cutting toolsPCD Circular Saw BladePVDD End Millsdiamond tool Single Crystal Diamond Metric end millsMiniature end millsСпециальные режущие инструменты Пустотелое сверло Pilot reamerFraisesFresas con mango PCD (Polycrystalline diamond) ‘FreseElectronics cutterStep drillMetal cutting sawDouble margin drillGun barrelAngle milling cutterCarbide burrsCarbide tipped cutterChamfering toolIC card engraving cutterSide cutterNAS toolDIN or JIS toolSpecial toolMetal slitting sawsShell end millsSide and face milling cuttersSide chip clearance sawsLong end millsStub roughing end millsDovetail milling cuttersCarbide slot drillsCarbide torus cuttersAngel carbide end millsCarbide torus cuttersCarbide ball-nosed slot drillsMould cutterTool manufacturer.

Bewise Inc. www.tool-tool.com

ようこそBewise Inc.の世界へお越し下さいませ、先ず御目出度たいのは新たな

情報を受け取って頂き、もっと各産業に競争力プラス展開。

弊社は専門なエンドミルの製造メーカーで、客先に色んな分野のニーズ

豊富なパリエーションを満足させ、特にハイテク品質要求にサポート致します。

弊社は各領域に供給できる内容は:

(1)精密HSSエンドミルのR&D

(2)Carbide Cutting tools設計

(3)鎢鋼エンドミル設計

(4)航空エンドミル設計

(5)超高硬度エンドミル

(6)ダイヤモンドエンドミル

(7)医療用品エンドミル設計

(8)自動車部品&材料加工向けエンドミル設計

弊社の製品の供給調達機能は:

(1)生活産業~ハイテク工業までのエンドミル設計

(2)ミクロエンドミル~大型エンドミル供給

(3)小Lot生産~大量発注対応供給

(4)オートメーション整備調達

(5)スポット対応~流れ生産対応

弊社の全般供給体制及び技術自慢の総合専門製造メーカーに貴方のご体験を御待ちしております。

BW специализируется в научных исследованиях и разработках, и снабжаем самым высокотехнологичным карбидовым материалом для поставки режущих / фрезеровочных инструментов для почвы, воздушного пространства и электронной индустрии. В нашу основную продукцию входит твердый карбид / быстрорежущая сталь, а также двигатели, микроэлектрические дрели, IC картонорезальные машины, фрезы для гравирования, режущие пилы, фрезеры-расширители, фрезеры-расширители с резцом, дрели, резаки форм для шлицевого вала / звездочки роликовой цепи, и специальные нано инструменты. Пожалуйста, посетите сайт www.tool-tool.com для получения большей информации.

BW is specialized in R&D and sourcing the most advanced carbide material with high-tech coating to supply cutting / milling tool for mould & die, aero space and electronic industry. Our main products include solid carbide / HSS end mills, micro electronic drill, IC card cutter, engraving cutter, shell end mills, cutting saw, reamer, thread reamer, leading drill, involute gear cutter for spur wheel, rack and worm milling cutter, thread milling cutter, form cutters for spline shaft/roller chain sprocket, and special tool, with nano grade. Please visit our web www.tool-tool.com for more info.

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Forsimplet unipolar step-motor, der kan lave helskridt på 90 grader og halvskridt på 45 grader.

Forsimplet unipolar step-motor, der kan lave helskridt på 90 grader og halvskridt på 45 grader.

[redigér] Kort om step-motorer

En step-motor er en form for elektromotor hvis bevægelser kan styres i små vinkeltrin og dermed mere præcis end gængse elektromoterer. De bruges for eksempel til at flytte læse/skrivehovedet i CNC-maskiner, plottere, printere, CD-, DVD- og diskettedrev, i robotter og andre steder, hvor det er vigtigt at kunne bevæge noget hen til en veldefineret, forudbestemt position. Til gengæld for den præcise styring er step-motorer mindre energieffektive end "normale" elektromotorer.

[redigér] Virkemåde

Som i almindelige elektromotorer findes der i step-motorer et antal elektriske spoler og evt. permanente magneter, men hvor almindelige elektromotorer af sig selv omkobler strømmen i spolerne (via kommutatoren) så motoren bliver ved med at køre videre, skal der til step-motorer bruges noget ekstern elektronik til at levere strøm-pulser til de forskellige spoler i den rigtige rækkefølge.

Hver impuls får motorens akse til at dreje sig en ganske bestemt vinkel, f.eks. 45 eller 15 grader eller mindre, så ved at levere et bestemt antal impulser kan man få motoren til at dreje sin akse med enhver vinkel, der er et helt multiplum af 45°, 15° eller mindre. Og ved at bytte om på den rækkefølge som spolerne modtager deres elektriske impulser i, kan man skifte omløbsretning.

Når en stepmotor er "kørt" hen til den ønskede position, kan man opretholde en såkaldt "holdestrøm" i de spoler, der modtog den sidste impuls: Så virker motoren som en slags låse- eller bremseanordning der søger at fastholde motorakslens aktuelle position.

En step-motors rotation er sammensat af 2 dele; inertimoment (dynamisk) og drejningsmoment fra strømmene gennem spolerne. Drejningsmomentet i en permanentmagnet step-motor fra strømmene findes kun, når rotorens nordpoler ikke er lige ud for statorens syd- eller nordpoler. Drejningsmomentet er maksimal for en vilkårlig strøm forskellig fra nul, når rotorens nord- og sydpoler er halvvejs mellem statorens nord- og sydpoler.

[redigér] Typer

Der er følgende typer at step-motorer:

  • Permanentmagnet
    • Bipolar - har 4 spoler, der er forbundet parvis i serie. Har normalt 4 tilledninger. 2 per spolepar.
    • Unipolar - har 4 spoler hvor man for det meste forbinder dem parvis i serie, med midtertilledning. Kan have fra 5..8 tilledninger.
  • Reluktans, uden permanentmagnet - kan have flere spoler.

Hvis man i en reluktans step-motor frakobler strømmen helt, er der ikke noget der "holder" på motorens aksel: Så kan man med håndkraft eller andre motorer relativt nemt dreje akslen rundt.

[redigér] Analog styring af en step-motor

Simpelt set kræver det 2 sinusformede vekselstrømme 90 grader forskudt, som f.eks. kan fås via 2 brokoblede lineare strømeffektforstærkere (=H-broer, fuld-broer). Dette er analog styring.

For bipolare step-motorer forbindes midterpunkterne, fællespunkterne ikke eller til forsyningsspænding halve.

Retningen af step-motoren ændres ved at vende en af sinusstrømmene - f.eks. ved at vende en af spolernes strømfaser 180 grader. Men inden dette sker skal step-motoren få bragt sin hastighed ned til stilstand, hvorefter den nye rotationsretning startes.

Kilden til de 2 vekselstrømme kan f.eks. være en lavfrekvens "tone"-generator med variabel frekvens (linear "clock").

"Tone"-generatoren skal kunne sættes helt i stå i en vilkårlig fase. Dette betyder at den kan være trinløs/step-løs.

Dette er den næsten ideelle fødning af en stepmotor.

[redigér] Digital styring af en step-motor

I sædvanlig praksis anvender man ikke lineare effektforstærkere, men derimod "on-off"-"forstærkning". Dette kaldes digitalstyring.

En "on"/"off" styring kan lave helstep og halvstep.

Fordelen ved digitalstyring er, at den "digitale tonegenerator"/clock er simplere at lave og det er styringen af effektforstærkerne også. Der afsættes mindre energi/effekt i effektforstærkerne.

[redigér] Digital input styresignaler

  • Pulsgiver, taktgiver (Clock, CLK) - som bestemmer stepmotorens rotorhastighed og faktisk antal skridt, step (eller halvskridt).
  • Retningen (direction, dir) - som bestemmer stepmotorens rotorretning.
  • Evt. signal om taktstyresignalet signalerer helskridt eller halvskridt.

[redigér] En kredsløbsblok kaldet "translator"

Formålet med denne blok er at oversætte clock og retningen til "driver" kontrolsignaler.

Unipolar

  • Obligatorisk er 1 signal til hver af de 4 spoleender, som signalerer om de skal have strøm eller ikke.

Bipolar

  • Obligatorisk er 2 fase-signaler til hver fuldbro, som signalerer om hver fuldbros 2 grene skal være lave eller høje. Herudover 2 kontrolsignaler til hver sin fuldbro, som signalerer om broens udgange skal være svævende.
  • Denne blok styrer via driveren de 2 brokoblede effektforstærkere digitalt (on,off). Men da styringen er digital, kan der i kortere tid ske det, at den ene gren i en brokoblet forstærker får signal om at både nedre og øvre transistor skal være "on". Dette udløser en "katastrofe", hvor en eller begge transistorer brænder af. Derfor skal man sikre sig at "translator" eller "driver"-blokken forhindrer dette med det rette design. Det der skal til, er et kortvarigt tidspunkt, hvor begge transistorer får off-signal, så den af dem der var "on" får tid til at slukke. Dette kaldes er "dead-time" tidsintervallet.

[redigér] "Driver"

"Driver"-blokken er den, som ændrer on/off signalerne fra logikspænding "5V" til spændinger og strømme, der er anvendelige til at styre effekttransistorer.

Driverens design afhænger af om step-motoren er unipolar eller bipolar.

[redigér] Effekttransistorer

Den sidste blok er selve effekttransistorerne, som evt. kan kræve køling. Det er normalt nødvendigt med dioder over transistorerne. Effekt MOSFETs har disse dioder indbygget.

Effekttransistorernes placering afhænger af om step-motoren er unipolar (kun pull-down eller pull-up-effekttransistorer anvendes; 4 stk) eller bipolar (2 fuldbroer; 8 effekttransistorer).

"Driver" og effekttransistorblokken udgør tilsammen effektforstærkerne.

[redigér] Mindre step end halve

Hvis en stepmotorstyring skal kunne styres i mindre trin/step end halve, så skal translatorblokken ændres, så output er analoge signaler evt. i trin. Man får brug for D/A-konvertere. Alternativt kan den mere effektive metode pulsbreddemodulation (PWM) anvendes.

Dette kræver igen at effektforstærkeren også er eller simulerer analog/linear og f.eks. kører i klasse B, C eller D(herunder PWM). Men omkostningen ved anvendelse af klasse B og C er et stort effekttab i effektforstærken. Kun hvis klasse D eller PWM anvendes, vil effekttabet kunne være lavt.

[redigér] Implementeringsmuligheder

Translatorblokken med digitalstyring, D/A-output eller PWM-output kan lægges/implementeres/"simuleres" i en mikrocontroller (f.eks. en PIC).

歡迎來到Bewise Inc.的世界,首先恭喜您來到這接受新的資訊讓產業更有競爭力,我們是提供專業刀具製造商,應對客戶高品質的刀具需求,我們可以協助客戶滿足您對產業的不同要求,我們有能力達到非常卓越的客戶需求品質,這是現有相關技術無法比擬的,我們成功的滿足了各行各業的要求,包括:精密HSS DIN切削刀具協助客戶設計刀具流程DIN or JIS 鎢鋼切削刀具設計NAS986 NAS965 NAS897 NAS937orNAS907 航太切削刀具,NAS航太刀具設計超高硬度的切削刀具醫療配件刀具設計汽車業刀具設計電子產業鑽石刀具木工產業鑽石刀具等等。我們的產品涵蓋了從民生刀具到工業級的刀具設計;從微細刀具到大型刀具;從小型生產到大型量產;全自動整合;我們的技術可提供您連續生產的效能,我們整體的服務及卓越的技術,恭迎您親自體驗!!

BW Bewise Inc. Willy Chen willy@tool-tool.com bw@tool-tool.com www.tool-tool.com skype:willy_chen_bw mobile:0937-618-190 Head &Administration Office No.13,Shiang Shang 2nd St., West Chiu Taichung,Taiwan 40356 http://www.tool-tool..com / FAX:+886 4 2471 4839 N.Branch 5F,No.460,Fu Shin North Rd.,Taipei,Taiwan S.Branch No.24,Sec.1,Chia Pu East Rd.,Taipao City,Chiayi Hsien,Taiwan

Welcome to BW tool world! We are an experienced tool maker specialized in cutting tools. We focus on what you need and endeavor to research the best cutter to satisfy users demand. Our customers involve wide range of industries, like mold & die, aerospace, electronic, machinery, etc. We are professional expert in cutting field. We would like to solve every problem from you. Please feel free to contact us, its our pleasure to serve for you. BW product including: cutting toolaerospace tool .HSS DIN Cutting toolCarbide end millsCarbide cutting toolNAS Cutting toolNAS986 NAS965 NAS897 NAS937orNAS907 Cutting Tools,Carbide end milldisc milling cutter,Aerospace cutting toolhss drillФрезерыCarbide drillHigh speed steelMilling cutterCVDD(Chemical Vapor Deposition Diamond )’PCBN (Polycrystalline Cubic Boron Nitride) Core drillTapered end millsCVD Diamond Tools Inserts’PCD Edge-Beveling Cutter(Golden FingerPCD V-CutterPCD Wood toolsPCD Cutting toolsPCD Circular Saw BladePVDD End Millsdiamond tool Single Crystal Diamond Metric end millsMiniature end millsСпециальные режущие инструменты Пустотелое сверло Pilot reamerFraisesFresas con mango PCD (Polycrystalline diamond) ‘FreseElectronics cutterStep drillMetal cutting sawDouble margin drillGun barrelAngle milling cutterCarbide burrsCarbide tipped cutterChamfering toolIC card engraving cutterSide cutterNAS toolDIN or JIS toolSpecial toolMetal slitting sawsShell end millsSide and face milling cuttersSide chip clearance sawsLong end millsStub roughing end millsDovetail milling cuttersCarbide slot drillsCarbide torus cuttersAngel carbide end millsCarbide torus cuttersCarbide ball-nosed slot drillsMould cutterTool manufacturer.

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BW специализируется в научных исследованиях и разработках, и снабжаем самым высокотехнологичным карбидовым материалом для поставки режущих / фрезеровочных инструментов для почвы, воздушного пространства и электронной индустрии. В нашу основную продукцию входит твердый карбид / быстрорежущая сталь, а также двигатели, микроэлектрические дрели, IC картонорезальные машины, фрезы для гравирования, режущие пилы, фрезеры-расширители, фрезеры-расширители с резцом, дрели, резаки форм для шлицевого вала / звездочки роликовой цепи, и специальные нано инструменты. Пожалуйста, посетите сайт www.tool-tool.com для получения большей информации.

BW is specialized in R&D and sourcing the most advanced carbide material with high-tech coating to supply cutting / milling tool for mould & die, aero space and electronic industry. Our main products include solid carbide / HSS end mills, micro electronic drill, IC card cutter, engraving cutter, shell end mills, cutting saw, reamer, thread reamer, leading drill, involute gear cutter for spur wheel, rack and worm milling cutter, thread milling cutter, form cutters for spline shaft/roller chain sprocket, and special tool, with nano grade. Please visit our web www.tool-tool.com for more info.

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Schema eines Schrittmotors - in 4 Schritten eine Umdrehung

Schema eines Schrittmotors - in 4 Schritten eine Umdrehung
Schrittmotor mit Permanentmagnet

Schrittmotor mit Permanentmagnet

Ein Schrittmotor ist ein Synchronmotor, bei dem der Rotor (drehbares Motorteil mit der Welle) durch ein gesteuertes schrittweise rotierendes elektromagnetisches Feld der Statorspulen (nicht drehbarer Motorteil) um einen minimalen Winkel (Schritt) oder sein Vielfaches gedreht werden kann. Schrittmotoren existieren auch in Form von Linearmotoren.

Positionierung [Bearbeiten]

Schrittmotoren folgen im Prinzip exakt dem außen angelegten Feld und können so ohne Sensoren zur Positionsrückmeldung (Encoder, Drehgeber oder ähnliches) betrieben werden. Sie zeigen damit ein ähnliches Verhalten wie Synchronmotoren. Daher können sie im Gegensatz zu z. B. Servomotoren, welche auf die gewünschte Position eingeregelt werden müssen, einfacher betrieben werden. Für einen besonders homogenen Verlauf werden Schrittmotoren mit einem gleichförmigen Drehfeld angesteuert.

Wird ein Schrittmotor jedoch stark belastet oder zu stark beschleunigt bzw. verzögert, kann es vorkommen, dass der Rotor nicht mehr exakt dem Feld folgt und Schritte übersprungen werden. Bei diesem sogenannten Schrittverlust springt der Motor in die vorherige Position zurück. Durch die mechanische Energie (Trägheit) kommt es bei rasch bewegten Magnetfeldern meist zu einer Serie von verlorenen Schritten. Während längerem Betrieb können sich diese Positionierungsfehler dann aufsummieren und eine ungenaue Positionierung bewirken. Dies kann bei zyklischen Bewegungen oder Rotationsbewegungen dadurch behoben werden, dass die Position des Motors bei jeder Umdrehung oder Zyklus mit einem externen Positionsimpuls eines Sensors in der Grundstellung abgeglichen wird.

Bauformen [Bearbeiten]

Man unterscheidet den Schrittmotor nach seiner Bauform in Reluktanz- und Permanentmagnet-Schrittmotor, wobei man beide Formen auch zu einem Hybridschrittmotor kombinieren kann.

Beim Reluktanzschrittmotor besteht der Rotor aus einem gezahnten Weicheisenkern. Bei diesem Material verschwindet nach dem Ausschalten des Statorstromes das Magnetfeld. Bei eingeschaltetem Strom fließt der magnetische Fluss durch den Weicheisenkern des Rotors. Die Drehbewegung des Rotors kommt zustande, weil vom gezahnten Stator der nächstliegende Zahn des Rotors angezogen wird, da sich so der magnetische Widerstand verringert.

Beim Permanentmagnetschrittmotor besteht der Stator aus Weicheisen und der Rotor aus Dauermagneten, die abwechselnd einen Nord- und einen Südpol aufweisen. Mit dem Stator-Magnetfeld richtet man den dauermagnetischen Rotor so aus, dass eine Drehbewegung entsteht.

Da der Reluktanzschrittmotor keine Permanentmagnete enthält, hat er daher im Gegensatz zum Permanentmagnetschrittmotor auch kein Rastmoment bei ausgeschaltetem Strom. Beim Permanentmagnetschrittmotor ist die Anzahl der Pole (und damit die Auflösung) begrenzt. Der Hybridschrittmotor vereint die Eigenschaften beider Bauformen, indem auf den Permanentmagneten noch ein gezahnter Weicheisenkranz eingefügt wird. Nahezu alle heute erhältlichen Schrittmotoren sind Hybridmotoren.

Als High-Torque Motoren (=hohes Drehmoment) werden häufig Typen bezeichnet, bei denen für den Rotor besonders starke Seltenerdenmagnete verwendet werden. So lässt sich eine besonders hohe Kraftdichte erzielen.

Genauigkeit [Bearbeiten]

Aufgrund ihrer Bauform bewegt sich der Rotor eines Schrittmotors mit jedem von außen vorgegebenen Schritt nur mit einem geringen Winkelversatz vorwärts. Üblich sind z.B. 100 oder 200 Schritte je Vollumdrehung. Somit lassen sich physikalische Positioniergenauigkeiten von 3.6, bzw. 1.8 Grad erreichen.

Anwendungsgebiete [Bearbeiten]

Typische Anwendungsgebiete sind Drucker, vor allem Matrixdrucker, oder der Antrieb des Schreib-/Lesekopfes in einem Diskettenlaufwerk oder CD-ROM-Laufwerk. Aufgrund ihrer hohen Genauigkeit werden sie auch in computergesteuerten Werkzeugmaschinen zur Positionierung der Werkzeuge verwendet.

Schrittmotoren können bis ca. 1 kW wirtschaftlich eingesetzt werden.

歡迎來到Bewise Inc.的世界,首先恭喜您來到這接受新的資訊讓產業更有競爭力,我們是提供專業刀具製造商,應對客戶高品質的刀具需求,我們可以協助客戶滿足您對產業的不同要求,我們有能力達到非常卓越的客戶需求品質,這是現有相關技術無法比擬的,我們成功的滿足了各行各業的要求,包括:精密HSS DIN切削刀具協助客戶設計刀具流程DIN or JIS 鎢鋼切削刀具設計NAS986 NAS965 NAS897 NAS937orNAS907 航太切削刀具,NAS航太刀具設計超高硬度的切削刀具醫療配件刀具設計汽車業刀具設計電子產業鑽石刀具木工產業鑽石刀具等等。我們的產品涵蓋了從民生刀具到工業級的刀具設計;從微細刀具到大型刀具;從小型生產到大型量產;全自動整合;我們的技術可提供您連續生產的效能,我們整體的服務及卓越的技術,恭迎您親自體驗!!

BW Bewise Inc. Willy Chen willy@tool-tool.com bw@tool-tool.com www.tool-tool.com skype:willy_chen_bw mobile:0937-618-190 Head &Administration Office No.13,Shiang Shang 2nd St., West Chiu Taichung,Taiwan 40356 http://www.tool-tool..com / FAX:+886 4 2471 4839 N.Branch 5F,No.460,Fu Shin North Rd.,Taipei,Taiwan S.Branch No.24,Sec.1,Chia Pu East Rd.,Taipao City,Chiayi Hsien,Taiwan

Welcome to BW tool world! We are an experienced tool maker specialized in cutting tools. We focus on what you need and endeavor to research the best cutter to satisfy users demand. Our customers involve wide range of industries, like mold & die, aerospace, electronic, machinery, etc. We are professional expert in cutting field. We would like to solve every problem from you. Please feel free to contact us, its our pleasure to serve for you. BW product including: cutting toolaerospace tool .HSS DIN Cutting toolCarbide end millsCarbide cutting toolNAS Cutting toolNAS986 NAS965 NAS897 NAS937orNAS907 Cutting Tools,Carbide end milldisc milling cutter,Aerospace cutting toolhss drillФрезерыCarbide drillHigh speed steelMilling cutterCVDD(Chemical Vapor Deposition Diamond )’PCBN (Polycrystalline Cubic Boron Nitride) Core drillTapered end millsCVD Diamond Tools Inserts’PCD Edge-Beveling Cutter(Golden FingerPCD V-CutterPCD Wood toolsPCD Cutting toolsPCD Circular Saw BladePVDD End Millsdiamond tool Single Crystal Diamond Metric end millsMiniature end millsСпециальные режущие инструменты Пустотелое сверло Pilot reamerFraisesFresas con mango PCD (Polycrystalline diamond) ‘FreseElectronics cutterStep drillMetal cutting sawDouble margin drillGun barrelAngle milling cutterCarbide burrsCarbide tipped cutterChamfering toolIC card engraving cutterSide cutterNAS toolDIN or JIS toolSpecial toolMetal slitting sawsShell end millsSide and face milling cuttersSide chip clearance sawsLong end millsStub roughing end millsDovetail milling cuttersCarbide slot drillsCarbide torus cuttersAngel carbide end millsCarbide torus cuttersCarbide ball-nosed slot drillsMould cutterTool manufacturer.

Bewise Inc. www.tool-tool.com

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情報を受け取って頂き、もっと各産業に競争力プラス展開。

弊社は専門なエンドミルの製造メーカーで、客先に色んな分野のニーズ

豊富なパリエーションを満足させ、特にハイテク品質要求にサポート致します。

弊社は各領域に供給できる内容は:

(1)精密HSSエンドミルのR&D

(2)Carbide Cutting tools設計

(3)鎢鋼エンドミル設計

(4)航空エンドミル設計

(5)超高硬度エンドミル

(6)ダイヤモンドエンドミル

(7)医療用品エンドミル設計

(8)自動車部品&材料加工向けエンドミル設計

弊社の製品の供給調達機能は:

(1)生活産業~ハイテク工業までのエンドミル設計

(2)ミクロエンドミル~大型エンドミル供給

(3)小Lot生産~大量発注対応供給

(4)オートメーション整備調達

(5)スポット対応~流れ生産対応

弊社の全般供給体制及び技術自慢の総合専門製造メーカーに貴方のご体験を御待ちしております。

BW специализируется в научных исследованиях и разработках, и снабжаем самым высокотехнологичным карбидовым материалом для поставки режущих / фрезеровочных инструментов для почвы, воздушного пространства и электронной индустрии. В нашу основную продукцию входит твердый карбид / быстрорежущая сталь, а также двигатели, микроэлектрические дрели, IC картонорезальные машины, фрезы для гравирования, режущие пилы, фрезеры-расширители, фрезеры-расширители с резцом, дрели, резаки форм для шлицевого вала / звездочки роликовой цепи, и специальные нано инструменты. Пожалуйста, посетите сайт www.tool-tool.com для получения большей информации.

BW is specialized in R&D and sourcing the most advanced carbide material with high-tech coating to supply cutting / milling tool for mould & die, aero space and electronic industry. Our main products include solid carbide / HSS end mills, micro electronic drill, IC card cutter, engraving cutter, shell end mills, cutting saw, reamer, thread reamer, leading drill, involute gear cutter for spur wheel, rack and worm milling cutter, thread milling cutter, form cutters for spline shaft/roller chain sprocket, and special tool, with nano grade. Please visit our web www.tool-tool.com for more info.

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The top electromagnet (1) is turned on, attracting the nearest teeth of a gear-shaped iron rotor. With the teeth aligned to electromagnet 1, they will be slightly offset from electromagnet 2.

The top electromagnet (1) is turned on, attracting the nearest teeth of a gear-shaped iron rotor. With the teeth aligned to electromagnet 1, they will be slightly offset from electromagnet 2.

The top electromagnet (1) is turned off, and the right electromagnet (2) is energized, pulling the nearest teeth slightly to the right. This results in a rotation of 3.6° in this example.

The top electromagnet (1) is turned off, and the right electromagnet (2) is energized, pulling the nearest teeth slightly to the right. This results in a rotation of 3.6° in this example.

The bottom electromagnet (3) is energized; another 3.6° rotation occurs.

The bottom electromagnet (3) is energized; another 3.6° rotation occurs.

The left electromagnet (4) is enabled, rotating again by 3.6°. When the top electromagnet (1) is again enabled, the teeth in the sprocket will have rotated by one tooth position; since there are 25 teeth, it will take 100 steps to make a full rotation in this example.

The left electromagnet (4) is enabled, rotating again by 3.6°. When the top electromagnet (1) is again enabled, the teeth in the sprocket will have rotated by one tooth position; since there are 25 teeth, it will take 100 steps to make a full rotation in this example.

Because of power requirements, induction of the windings, and temperature management, motors cannot be directly powered by most digital controllers. Some "glue circuitry," such as a motor controller (H-bridge) is necessary between digital controller and motor. The above image shows the basic circuit of a motor controller which can also sense motor current. (One wire of the motor is shown; a stepper motor would require such a circuit for four wires, and a normal DC motor for two. This circuitry is typically all included in an integrated H-bridge chip.

Because of power requirements, induction of the windings, and temperature management, motors cannot be directly powered by most digital controllers. Some "glue circuitry," such as a motor controller (H-bridge) is necessary between digital controller and motor. The above image shows the basic circuit of a motor controller which can also sense motor current. (One wire of the motor is shown; a stepper motor would require such a circuit for four wires, and a normal DC motor for two. This circuitry is typically all included in an integrated H-bridge chip.

Different details of configuration have to be decided when choosing a motor. Almost everything is combineable

Different details of configuration have to be decided when choosing a motor. Almost everything is combineable

A stepper motor is a brushless, synchronous electric motor that can divide a full rotation into a large number of steps. The motor's position can be controlled precisely, without any feedback mechanism (see open loop control). Stepper motors are similar to switched reluctance motors, which are very large stepping motors with a reduced pole count, and generally are closed-loop commutated.


[edit] Fundamentals of operation

Stepper motors operate much differently from normal DC motors, which rotate when voltage is applied to their terminals. Stepper motors, on the other hand, effectively have multiple "toothed" electromagnets arranged around a central gear-shaped piece of iron. The electromagnets are energized by an external control circuit, such as a microcontroller. To make the motor shaft turn, first one electromagnet is given power, which makes the gear's teeth magnetically attracted to the electromagnet's teeth. When the gear's teeth are thus aligned to the first electromagnet, they are slightly offset from the next electromagnet. So when the next electromagnet is turned on and the first is turned off, the gear rotates slightly to align with the next one, and from there the process is repeated. Each of those slight rotations is called a "step." In that way, the motor can be turned a precise angle.

[edit] Stepper motor characteristics

Stepper motors are constant-power devices (power = angular velocity x torque). As motor speed increases, torque decreases. The torque curve may be extended by using current limiting drivers and increasing the driving voltage.

Steppers exhibit more vibration than other motor types, as the discrete step tends to snap the rotor from one position to another. This vibration can become very bad at some speeds and can cause the motor to lose torque. The effect can be mitigated by accelerating quickly through the problem speed range, physically dampening the system, or using a micro-stepping driver. Motors with greater number of phases also exhibit smoother operation than those with fewer phases.

[edit] Open-loop versus closed-loop commutation

Steppers are generally commutated open loop, ie. the driver has no feedback on where the rotor actually is. Stepper motor systems must thus generally be over engineered, especially if the load inertia is high, or there is widely varying load, so that there is no possibility that the motor will lose steps. This has often caused the system designer to consider the trade-offs between a closely sized but expensive servo system and an oversized but relatively cheap stepper.

A new development in stepper control is to incorporate a rotor position feedback (eg. an encoder or resolver), so that the commutation can be made optimal for torque generation according to actual rotor position. This turns the stepper motor into a high pole count brushless servo motor, with exceptional low speed torque and position resolution. An advance on this technique is to normally run the motor in open loop mode, and only enter closed loop mode if the rotor position error becomes too large -- this will allow the system to avoid hunting or oscillating, a common servo problem.

[edit] Two-phase stepper motors

There are two basic winding arrangements for the electromagnetic coils in a two phase stepper motor: bipolar and unipolar.

[edit] Unipolar motors

An unipolar stepper motor has logically two windings per phase, one for each direction of current. Since in this arrangement a magnetic pole can be reversed without switching the direction of current, the commutation circuit can be made very simple (eg. a single transistor) for each winding. Typically, given a phase, one end of each winding is made common: giving three leads per phase and six leads for a typical two phase motor. Often, these two phase commons are internally joined, so the motor has only five leads.

A microcontroller or stepper motor controller can be used to activate the drive transistors in the right order, and this ease of operation makes unipolar motors popular with hobbyists; they are probably the cheapest way to get precise angular movements.

(For the experimenter, one way to distinguish common wire from a coil-end wire is by measuring the resistance. Resistance between common wire and coil-end wire is always half of what it is between coil-end and coil-end wires. This is due to the fact that there is actually twice the length of coil between the ends and only half from center (common wire) to the end.)

A six lead unipolar motor may be driven by a bipolar driver. In this case, one of the windings on each phase is wasted as it never carries current.

[edit] Bipolar motor

Bipolar motors have logically a single winding per phase. The current in a winding needs to be reversed in order to reverse a magnetic pole, so the driving circuit must be more complicated, typically with an H-bridge arrangement. There are two leads per phase, none are common.

Because windings are better utilised, they are more powerful than a unipolar motor of the same weight.

[edit] 8-lead stepper

An 8 lead stepper is wound like a unipolar stepper, but the leads are not joined to common internally to the motor. This kind of motor can be wired in several configurations:

  • Unipolar.
  • Bipolar with series windings. This gives higher inductance but lower current per winding.
  • Bipolar with parallel windings. This requires higher current but can perform better as the winding inductance is reduced.
  • Bipolar with a single winding per phase. This method will run the motor on only half the available windings, which will reduce the available low speed torque but require less current.

[edit] Higher-phase count stepper motors

Multi-phase stepper motors with many phases tend to have much lower levels of vibration, although the cost of manufacture is higher too.

[edit] Stepper motor drive circuits

Stepper motor performance is strongly dependent on the drive circuit. Torque curves may be extended to greater speeds if the stator poles can be reversed more quickly, the limiting factor being the winding inductance. To overcome the inductance and switch the windings quickly, one must increase the drive voltage. This leads further to the necessity of limiting the current that these high voltages may otherwise induce.

[edit] L/R drive circuits

L/R drive circuits are also referred to as constant voltage drives because a constant positive or negative voltage is applied to each winding to set the step positions. However, it is winding current, not voltage that applies torque to the stepper motor shaft. The current I in each winding is related to the applied voltage V by the winding inductance L and the winding resistance R. The resistance R determines the maximum current according to Ohm's law I=V/R. The inductance L determines the maximum rate of change of the current in the winding according to the formula for an Inductor dI/dt = V/L. Thus when controlled by an L/R drive, the maximum speed of a stepper motor is limited by it's inductance since at some speed, the voltage V will be changing faster than the current I can keep up.

With an L/R drive it is possible to control a low voltage motor with a higher voltage drive simply by adding an external resistor in series with each winding. This will waste power in the resistors, and generate heat. It is therefore considered a low performing option, albeit simple and cheap.

[edit] Chopper drive circuits

Chopper drive circuits are also referred to as constant current drives because they generate a somewhat constant current in each winding rather than applying a constant voltage. On each new step, a very high voltage is applied to the winding initially. This causes the current in the winding to rise quickly since dI/dt = V/L where V is very large. The current in each winding is monitored by the controller, usually by measuring the voltage across a small sense resistor in series with each winding. When the current exceeds a specified current limit, the voltage is turned off or "chopped", typically using power transistors. When the winding current drops below the specified limit, the voltage is turned on again. In this way, the current is held relatively constant for a particular step position. This requires additional electronics to sense winding currents, and control the switching, but it allows stepper motors to be driven with higher torque at higher speeds than L/R drives. Integrated electronics for this purpose are widely available.

[edit] Phase current waveforms

A stepper motor is a polyphase AC synchronous motor (see Theory below), and it is ideally driven by sinusoidal current. A full step waveform is a gross approximation of a sinusoid, and is the reason why the motor exhibits so much vibration. Various drive techniques have been developed to better approximate a sinusoidal drive waveform: these are half stepping and microstepping.

[edit] Full step drive (two phases on)

This is the usual method for full step driving the motor. Both phases are always on. The motor will have full rated torque.

[edit] Wave drive

In this drive method only a single phase is activated at a time. It has the same number of steps as the full step drive, but the motor will have significantly less than rated torque. It is rarely used.

[edit] Half stepping

When half stepping, the drive alternates between two phases on and a single phase on. This increases the angular resolution, but the motor also has less torque at the half step position (where only a single phase is on). This may be mitigated by increasing the current in the active winding to compensate. The advantage of half stepping is that the drive electronics need not change to support it.

[edit] Microstepping

What is commonly referred to as microstepping is actual "sine cosine microstepping" in which the winding current approximates a sinusoidal AC waveform. Sine cosine microstepping is the most common form, but other waveforms are used [1]. Regardless of the waveform used, as the microsteps become smaller, motor operation becomes more smooth. However, the purpose of microstepping is not usually to achieve smoothness of motion, but to achieve higher position resolution. A microstep driver may split a full step into as many as 256 microsteps. A typical motor may have 200 steps per revolution. Using such a motor with a 256 microstep controller (also referred to as a "divide by 256" controller) results in an angular resolution of 360°/200/256 = 0.00703125° or 51200 discrete positions per revolution. However, it should be noted that such fine resolution is rarely achievable in practice, regardless of the controller, due to mechanical stiction and other sources of error between the specified and actual positions.

Step size repeatability is an important step motor feature and a fundamental reason for their use in positioning. Microstepping can affect the step size repeatability the motor. Example: many modern hybrid step motors are rated such that the travel of every Full step (example 1.8 Degrees per Full step or 200 Full steps per revolution) will be within 3% or 5% of the travel of every other Full step; as long as the motor is operated with in its specified operating ranges. Several manufacturers show that their motors can easily maintain the 3% or 5% equality of step travel size as step size is reduced from Full stepping down to 1/10th stepping. Then, as the microstepping divisor number grows, step size repeatability degrades. At large step size reductions it is possible to issue many microstep commands before any motion occurs at all and then the motion can be a "jump" to a new position.

[edit] Theory

A step motor can be viewed as a synchronous AC motor with the number of poles (on both rotor and stator) increased, taking care that they have no common denominator. Additionally, soft magnetic material with many teeth on the rotor and stator cheaply multiplies the number of poles (reluctance motor). Modern steppers are of hybrid design, having both permanent magnets and soft iron cores.

To achieve full rated torque, the coils in a stepper motor must reach their full rated current during each step. Winding inductance and reverse EMF generated by a moving rotor tend to resist changes in drive current, so that as the motor speeds up, less and less time is spent at full current -- thus reducing motor torque. As speeds further increase, the current will not reach the rated value, and eventually the motor will cease to produce torque.

[edit] Pull-in torque

This is the measure of the torque produced by a stepper motor when it is operated without an acceleration state. At low speeds the stepper motor can synchronise itself with an applied step frequency, and this Pull-In torque must overcome friction and inertia.

[edit] Pull-out torque

The stepper motor Pull-Out torque is measured by accelerating the motor to the desired speed and then increasing the torque loading until the motor stalls or "pulls Out of synchronism" with the step frequency. This measurement is taken across a wide range of speeds and the results are used to generate the stepper motors dynamic performance curve. As noted below this curve is affected by drive voltage, drive current and current switching techniques. It is normally recommended to use a safety factor of between 50% and 100% when comparing your desired torque output to the published "pull-Out" torque performance curve of a step motor.

[edit] Detent torque

Synchronous electric motors using permanent magnets have a remnant position holding torque (called detent torque, and sometimes included in the specifications) when not driven electrically. Soft iron reluctance cores do not exhibit this behavior.

[edit] Stepper motor ratings and specifications

Stepper motors nameplates typically give only the winding current and occasionally the voltage and winding resistance. The rated voltage will produce the rated winding current at DC: but this is mostly a meaningless rating, as all modern drivers are current limiting and the drive voltages greatly exceed the motor rated voltage.

A stepper's low speed torque will vary directly with current. How quickly the torque falls off at faster speeds depends on the winding inductance and the drive circuitry it is attached to, especially the driving voltage.

Steppers should be sized according to published torque curve, which is specified by the manufacturer at particular drive voltages and/or using their own drive circuitry. It is not guaranteed that you will achieve the same performance given different drive circuitry, so the pair should be chosen with great care.

[edit] Applications

Computer-controlled stepper motors are one of the most versatile forms of positioning systems. They are typically digitally controlled as part of an open loop system, and are simpler and more rugged than closed loop servo systems.

Industrial applications are in high speed pick and place equipment and multi-axis machine CNC machines often directly driving lead screws or ballscrews. In the field of lasers and optics they are frequently used in precision positioning equipment such as linear actuators, linear stages, rotation stages, goniometers, and mirror mounts. Other uses are in packaging machinery, and positioning of valve pilot stages for fluid control systems.

Commercially, in floppy disk drives, flatbed scanners, printers, plotters and many more devices.

歡迎來到Bewise Inc.的世界,首先恭喜您來到這接受新的資訊讓產業更有競爭力,我們是提供專業刀具製造商,應對客戶高品質的刀具需求,我們可以協助客戶滿足您對產業的不同要求,我們有能力達到非常卓越的客戶需求品質,這是現有相關技術無法比擬的,我們成功的滿足了各行各業的要求,包括:精密HSS DIN切削刀具協助客戶設計刀具流程DIN or JIS 鎢鋼切削刀具設計NAS986 NAS965 NAS897 NAS937orNAS907 航太切削刀具,NAS航太刀具設計超高硬度的切削刀具醫療配件刀具設計汽車業刀具設計電子產業鑽石刀具木工產業鑽石刀具等等。我們的產品涵蓋了從民生刀具到工業級的刀具設計;從微細刀具到大型刀具;從小型生產到大型量產;全自動整合;我們的技術可提供您連續生產的效能,我們整體的服務及卓越的技術,恭迎您親自體驗!!

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Welcome to BW tool world! We are an experienced tool maker specialized in cutting tools. We focus on what you need and endeavor to research the best cutter to satisfy users demand. Our customers involve wide range of industries, like mold & die, aerospace, electronic, machinery, etc. We are professional expert in cutting field. We would like to solve every problem from you. Please feel free to contact us, its our pleasure to serve for you. BW product including: cutting toolaerospace tool .HSS DIN Cutting toolCarbide end millsCarbide cutting toolNAS Cutting toolNAS986 NAS965 NAS897 NAS937orNAS907 Cutting Tools,Carbide end milldisc milling cutter,Aerospace cutting toolhss drillФрезерыCarbide drillHigh speed steelMilling cutterCVDD(Chemical Vapor Deposition Diamond )’PCBN (Polycrystalline Cubic Boron Nitride) Core drillTapered end millsCVD Diamond Tools Inserts’PCD Edge-Beveling Cutter(Golden FingerPCD V-CutterPCD Wood toolsPCD Cutting toolsPCD Circular Saw BladePVDD End Millsdiamond tool Single Crystal Diamond Metric end millsMiniature end millsСпециальные режущие инструменты Пустотелое сверло Pilot reamerFraisesFresas con mango PCD (Polycrystalline diamond) ‘FreseElectronics cutterStep drillMetal cutting sawDouble margin drillGun barrelAngle milling cutterCarbide burrsCarbide tipped cutterChamfering toolIC card engraving cutterSide cutterNAS toolDIN or JIS toolSpecial toolMetal slitting sawsShell end millsSide and face milling cuttersSide chip clearance sawsLong end millsStub roughing end millsDovetail milling cuttersCarbide slot drillsCarbide torus cuttersAngel carbide end millsCarbide torus cuttersCarbide ball-nosed slot drillsMould cutterTool manufacturer.

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Motor paso a paso (PaP)

Motor paso a paso (PaP)

El motor de paso a paso es un dispositivo electromecánico que convierte una serie de impulsos eléctricos en desplazamientos angulares discretos , lo que significa es que es capaz de avanzar una serie de grados (paso) dependiendo de sus entradas de control. El motor paso a paso se comporta de la misma manera que un convertidor digital-analógico y puede ser gobernado por impulsos procedentes de sistemas lógicos.

Este motor presenta las ventajas de tener alta precisión y repetibilidad en cuanto al posicionamiento. Entre sus principales aplicaciones destacan como motor de frecuencia variable, motor de corriente continua sin escobillas, servomotores y motores controlados digitalmente.

Existen 3 tipos fundamentales de motores paso a paso: el motor de reluctancia variable, el motor de magnetización permanente, y el motor paso a paso híbrido.


Principio de funcionamiento [editar]

El motor paso a paso está constituido , como la mayoría de motores eléctricos, esencialmente de dos partes:

  • Una parte fija llamada "estator" , construida a base de cavidades en las que van depositadas las bobinas que excitadas convenientemente formarán los polos norte-sur de forma que se cree un campo magnético giratorio.
  • Una parte móvil, llamada "rotor" construida bien con un imán permanente o bien por un inducido ferromagnético, con el mismo número de pares de polos que el contenido en una sección de la bobina del estator; este conjunto va montado sobre un eje soportado por dos cojinetes que le permiten girar libremente.

Si por el medio del control que sea (electrónico, informático, etc..), conseguimos excitar el estator creando los polos N-S, y hacemos variar dicha excitación de modo que el campo magnético formado efectúe un movimiento giratorio, la respuesta del rotor será seguir el movimiento de dicho campo, produciéndose de este modo el giro del motor.

Estos motores poseen la habilidad de poder quedar enclavados en una posición o bien totalmente libres. Si una o más de sus bobinas están alimentadas, el motor estará enclavado en la posición correspondiente y por el contrario quedará completamente libre si no circula corriente por ninguna de sus bobinas.


Secuencia de funcionamiento [editar]

Observese como la variación de la dirección del campo magnético creado en el estator producirá movimiento de seguimiento por parte del rotor de imán permanente, el cual intentará alinearse con campo magnético inducido por las bobinas que excitan los electroimanes (en este caso A y B). Vcc es la alimentación de corriente continua (por ejemplo 5V, 12V, 24V...)

Tabla de orden de fases. En este caso concreto el motor tendrá un paso angular de 90º y un semipaso de 45º (al excitarse más de una bobina)
Paso Terminal 1
Bobina A
Terminal 2
Bobina A
Terminal 1
Bobina B
Terminal 2
Bobina B
Imagen
Paso 1 +Vcc -Vcc

(Semi-)Paso 2 +Vcc -Vcc +Vcc -Vcc
Paso 3

+Vcc -Vcc
(Semi-)Paso 4 -Vcc +Vcc +Vcc -Vcc
Paso 5 -Vcc +Vcc

(Semi-)Paso 6 -Vcc +Vcc -Vcc +Vcc
Paso 7

-Vcc +Vcc
(Semi-)Paso 8 +Vcc -Vcc -Vcc +Vcc

Control de las bobinas [editar]

Para el control del motor paso a paso de este tipo (bipolar), se establece el principio de "puente en H", si se activan T1 y T4, permiten la alimetación en un sentido; si cambiamos el sentido de la alimentación activando T2 y T3, cambiaremos el sentido de alimetación y el sentido de la corriente.

Topología de "puente en H" para las bobinas A y B

Topología de "puente en H" para las bobinas A y B
variación de la alimentación de corriente de la bobina A según los transistores T1, T2, T3, T4

variación de la alimentación de corriente de la bobina A según los transistores T1, T2, T3, T4


Velocidad de rotación [editar]

La velocidad de rotación viene definida por la ecuación:

N = 60 * \frac{f}{n}

donde:

  • f: frecuencia del tren de impulsos
  • n: nº de polos que forman el motor

Si bien hay que decir que para estos motores, la máxima frecuencia admisible suele estar alrededor de los 625 Hz. Si la frecuencia de pulsos es demasiado elevada, el motor puede reaccionar erróneamente en alguna de las siguientes maneras:

  • Puede que no realice ningún movimiento en absoluto.
  • Puede comenzar a vibrar pero sin llegar a girar.
  • Puede girar erráticamente.
  • O puede llegar a girar en sentido opuesto.


Tipos de motores paso a paso [editar]

El motor de paso de rotor de imán permanente: Permite mantener un par diferente de cero cuando el motor no está energizado. Dependiendo de la construcción del motor, es típicamente posible obtener pasos angulares de 7.5, 11.25, 15, 18, 45 o 90°. El ángulo de rotación se determina por el número de polos en el estator


El motor de paso de reluctancia variable (VR): Tiene un rotor multipolar de hierro y un estator devanado laminado, y rota cuando los dientes del rotor son atraídos a los dientes del estator electromagnéticamente energizados. La inercia del rotor de un motor de paso de reluctancia variable es pequeña y la respuesta es muy rápida, pero la inercia permitida de la carga es pequeña. Cuando los devanados no están energizados, el par estático de este tipo de motor es cero. Generalmente, el paso angular de este motor de paso de reluctancia variable es de 15°


El motor híbrido de paso: Se caracteriza por tener varios dientes en el estator y en el rotor, el rotor con un imán concéntrico magnetizado axialmente alrededor de su eje. Se puede ver que esta configuración es una mezcla de los tipos de reluctancia variable e imán permanente. Este tipo de motor tiene una alta precisión y alto par y se puede configurar para suministrar un paso angular tan pequeño como 1.8°.

歡迎來到Bewise Inc.的世界,首先恭喜您來到這接受新的資訊讓產業更有競爭力,我們是提供專業刀具製造商,應對客戶高品質的刀具需求,我們可以協助客戶滿足您對產業的不同要求,我們有能力達到非常卓越的客戶需求品質,這是現有相關技術無法比擬的,我們成功的滿足了各行各業的要求,包括:精密HSS DIN切削刀具協助客戶設計刀具流程DIN or JIS 鎢鋼切削刀具設計NAS986 NAS965 NAS897 NAS937orNAS907 航太切削刀具,NAS航太刀具設計超高硬度的切削刀具醫療配件刀具設計汽車業刀具設計電子產業鑽石刀具木工產業鑽石刀具等等。我們的產品涵蓋了從民生刀具到工業級的刀具設計;從微細刀具到大型刀具;從小型生產到大型量產;全自動整合;我們的技術可提供您連續生產的效能,我們整體的服務及卓越的技術,恭迎您親自體驗!!

BW Bewise Inc. Willy Chen willy@tool-tool.com bw@tool-tool.com www.tool-tool.com skype:willy_chen_bw mobile:0937-618-190 Head &Administration Office No.13,Shiang Shang 2nd St., West Chiu Taichung,Taiwan 40356 http://www.tool-tool..com / FAX:+886 4 2471 4839 N.Branch 5F,No.460,Fu Shin North Rd.,Taipei,Taiwan S.Branch No.24,Sec.1,Chia Pu East Rd.,Taipao City,Chiayi Hsien,Taiwan

Welcome to BW tool world! We are an experienced tool maker specialized in cutting tools. We focus on what you need and endeavor to research the best cutter to satisfy users demand. Our customers involve wide range of industries, like mold & die, aerospace, electronic, machinery, etc. We are professional expert in cutting field. We would like to solve every problem from you. Please feel free to contact us, its our pleasure to serve for you. BW product including: cutting toolaerospace tool .HSS DIN Cutting toolCarbide end millsCarbide cutting toolNAS Cutting toolNAS986 NAS965 NAS897 NAS937orNAS907 Cutting Tools,Carbide end milldisc milling cutter,Aerospace cutting toolhss drillФрезерыCarbide drillHigh speed steelMilling cutterCVDD(Chemical Vapor Deposition Diamond )’PCBN (Polycrystalline Cubic Boron Nitride) Core drillTapered end millsCVD Diamond Tools Inserts’PCD Edge-Beveling Cutter(Golden FingerPCD V-CutterPCD Wood toolsPCD Cutting toolsPCD Circular Saw BladePVDD End Millsdiamond tool Single Crystal Diamond Metric end millsMiniature end millsСпециальные режущие инструменты Пустотелое сверло Pilot reamerFraisesFresas con mango PCD (Polycrystalline diamond) ‘FreseElectronics cutterStep drillMetal cutting sawDouble margin drillGun barrelAngle milling cutterCarbide burrsCarbide tipped cutterChamfering toolIC card engraving cutterSide cutterNAS toolDIN or JIS toolSpecial toolMetal slitting sawsShell end millsSide and face milling cuttersSide chip clearance sawsLong end millsStub roughing end millsDovetail milling cuttersCarbide slot drillsCarbide torus cuttersAngel carbide end millsCarbide torus cuttersCarbide ball-nosed slot drillsMould cutterTool manufacturer.

Bewise Inc. www.tool-tool.com

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弊社は各領域に供給できる内容は:

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(5)超高硬度エンドミル

(6)ダイヤモンドエンドミル

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夹 具作为制造企业中重要的基础工艺装备,广泛应用于加工、检测和装配等制造过程中。夹具设计的效率直接影响到产品的生产准备时间和产品成本。由于市场竞争的 加剧和企业信息化的需要,企业对计算机辅助夹具设讯CAFD淇有强烈的需求。计算机辅助夹具设计(CAFD)是通过计算机软件程序来完成夹具设计计算、结 构设计、总装图和零件图的绘制,及制定出夹具零件的数控加工程序等工作。计算机辅助夹具设计是CAD/CAM系统中一个独立的部分,它和计算机辅助工艺规 程设计(CAPP)共同构成CAD和CAM之间的接口,而它和CAPP又是彼此相互提供信息和作出决策的两个独立的系统。

目前的兰维软件的参数化设计、装配模拟,干涉检验以及有限元分析等功能为计算机辅助夹具设计提供了强有力的技术支持,从而使如何在三维平台下进行夹具设计成为研究的热点。

1、三维CAFD系统结构体系

机 床夹具是山定位元件(或组件)、对刀元件、导向元件(或组件)、夹紧元件(或组件)及夹具体等几个基本单元组成。机床夹具的设计的特点主要体现在:夹具的 各个组成部分可以分别进行设计。与一般的产品设计相比,夹具设计的重构性还是比较强的。因此,CAFD系统主要完成以下几个方面的设计:定位、对刀、导 向、夹紧、夹具体等。每一个设计内容都应包括方案确定和元件选择。在三维设计平台下,计算机辅助夹具设计的过程一般要经历概念设计、技术设计和洋细设计三 个阶段。

夹具设计过程不仅需要大量的有关零件设计、工艺和加工的数据,同时还需要设计人员具有很丰富的领域知识和设计经验。根据夹具设计 要求和系统功能分析.将三维CAFD系统分为以下几个功能部分:信息输入功能部分、辅助方案设计功能部分、设计校验功能部分和结果输出功能部分。输入信息 包括:工件信息、工序信息、设备信息三个部分;夹具方案设计需要设计定位方案、对刀导向方案、夹紧方案、夹具体方案;夹具设计校验主要是指定位精度评估和 夹紧力的校核;最后一个过程是输出设计结果,包括元件图、装配图BOM表,并更新数据库。系统结构如图1所示。

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系统的基层是由数据库、实例库、方案库和图形库作为支持。数据库中主要包括夹具结构元素数据库:标准、手册资料信息数据库(公差、配合、粗糙度等);设备资料数据库。这个数据库要求是开放性的,必要时可由设计者向数据库内增加必要的其他信息。

系统的信息输入部分的数据主要是指需输入到计算机中的夹具图的各种有效信息:尺寸、形状及位置公差、表面粗糙度等。此部分数据既可以从数据库中读取,也可以由用户输入。

系统提供基于实例和人机交互两种方式辅助用户生成夹具设计方案。夹具零件及装配图的重新生成方法中最常用的是利用尺寸驱动技术,通过读取数据库中的数据或者是用户通过人机交互界面输入的数据来驱动零件或装配图,从而生产符合用户要求的零件或装配图。

三维CAFD系统可以集CAD/CAE/CAM于一体.能够在立体造型设计的基础上进行产品的模拟装配、有限元分析计算、机构运动仿真、计算机辅助制造等,把设计、分析、制造集于一体。

2夹具三维图形库与夹具装配体的建模方法

2.1基于SolidWorks的夹具三维图形库的建立

SolidWorks 是目前广泛应用的完全基于Windows的三维CAD/CAE/CAM软件。它采用与UG相同的底层图形核心 Parasolid,具有强大的基于特征的参数化实体建模能力,可以完成复杂的产品设计和产品装配过程。SolidWorks通过OLE(对象链接与嵌 入)技术为用户提供了强大的二次开发接口,凡支持OLE编程的开发工具,均可用于SolidWorks的二次开发,创建出用户定制的专用模块。

夹 具图形库是指以一定形式表示用于夹具设计的子图形的集合。本系统的图形库主要有通用件(螺钉、螺母等)图形库、夹具标准件(定位元件、夹紧元件、导向元 件、对刀原件)图形库和企业常用件(夹具体等〕图形库。它的作用是使夹具系统能装配出一张符合要求的夹具装配图。夹具图形库是建立三维CAFD系统的关 键。夹具图形库结构如图2所示。

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夹具三维图形库的开发方法是在SolidWork\s下建立大量的通用 件、夹具标准件和企业常用件的零件图形库,并按照机械零件手册和夹具设计手册等工具书上的数据建立工程数据库,在此基础上,编写程序(如VB, VC, Delphi等)调用SolidWorks的API函数实现对图库零件的尺寸参数驱动。

2.2基于SolidWorks的夹具装配体建模方法

本 系统可运用交互式方法在SolidWorks装配环境下,以要设计夹具的零件工序图(3D模型)为装配的基础,按照手动绘制夹具总装图的步骤,交互式调用 夹具图形库中的定位元件、夹紧元件及机构、导向元件装置等零件图。在装配体建模过程中,实际上是用二次开发所得,加载在SolidWorks装配体生成环 境下的菜单项,对上述元件实现尺寸驱动,进行装配,最后根据夹具总的布局设计夹具体生成整个机床夹具装配体。

在SolidWorks环境 下,可迅速的对夹具装配体进行装配干涉检查和误差分析,大大提高了没计效率。同时在夹具三维图形库中调用的零件模型,可利用SolidWorks的 COSMOSX-press进行受力应力状况分析,再转换到内嵌于SolidWork:的软件的COSMOS/Works进行更高级的有限元分析。这样就 可以实现机床夹具的计算机辅助设计校验。装配体还可用Solidworks自带的一个插件Animator(动画软件)对夹具进行运动仿真,即给定夹具中 可以运动的零件的运动方式和运动路径,使装配体产生运动,从运动过程可以看出各零件是否会产生运动的干涉,以便及时修改。Solidworks可以把运动 过程生成AVI动画文件,保存后可以脱离软件环境独立运行。

在三维设计环境SolidWorks下完成元件的具体设计和装配图设计,并进行装配干涉检验和误差分析等内容,从而可以检验概念设计的正确与否,并可纠正概念设计中的错误和不合理之处。

详细设计是夹具设计的最后阶段,主要工作是完成夹具二维图形的设计。目前的三维设计软件SolidWorks具有从三维生成二维工作图,而且具备双向关联的能力,并且具有三维实体全面尺寸约束和特征修改能力,因此能在设计中修改尺寸形状。

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3应用实例及结论

本 文提出了一种在SolidWorks平台基础上的三维CAFD系统的结构体系。通过建立SolidWorks二次开发的夹具三维图形库,以及 SolidWorks在夹具设计时在装配体建模和分析中的运用方法,提出开发基于SolidWorks三维平台的CAFD系统,用以有效提高夹具设计的效 率和标准性。图3和图4分别为调用三维夹具图形库的标准件实例和在SolidWorks装配环境下面生成的夹具装配体的模型实例。

不断完善SolidWorks二次开发建立的夹具三维图形库可以更好地满足企业的要求,提高三维CAFD系统的实用性和通用性。

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